Unmanned aerial vehicle and operations thereof

Abstract

The present invention provides methods and apparatus for unmanned aerial vehicles (UAVs) with improved reliability. According to one aspect of the invention, interference experienced by onboard sensors from onboard electrical components is reduced. According to another aspect of the invention, user-configuration or assembly of electrical components is minimized to reduce user errors.

What is claimed is: 
     
       1. A multi-rotor unmanned aerial vehicle (UAV), comprising:
 a central body comprising an upper housing member and a lower housing member; 
 a plurality of branch housing members extending from the central body, each comprising an upper branch housing member and a lower branch housing member, the plurality of upper branch housing members and the upper housing member forming an integral upper body portion, the plurality of lower branch housing members and the lower housing member forming an integral lower body portion, the integral upper body portion and the integral lower body portion coupled together to form a hollow body portion defining a central cavity and a plurality of branch cavities, wherein the plurality of branch housing members are configured to support a plurality of actuator assemblies, the actuator assemblies being configured to product thrust, wherein the branch housing members and the central body collectively form an “X” shaped arrangement with the central body located at the center of the “X” shaped arrangement and the branch housing members being distributed around the central body in a symmetric fashion; 
 one or more electrical components comprising at least a flight control module and a wireless transceiver, the flight control module and the wireless transceiver disposed inside the central cavity; 
 a plurality of electronic speed control (ESC) modules, each electrically coupled to a corresponding actuator assembly of the plurality of actuator assemblies and to the flight control module, in order to control an actuator of the corresponding actuator assembly to effect movement of the UAV, wherein the thrust of the plurality of actuator assemblies is oriented in a vertical direction relative to the central body; 
 a plurality of electrical wires disposed inside the branch housing members, wherein individual wires of the plurality of electrical wires are configured to electrically connect a corresponding one of the plurality of ESC modules and a corresponding one of the plurality of actuator assemblies; 
 a landing stand extending from the integral lower body portion, wherein the landing stand is configured to bear weight of the UAV when the UAV is not airborne, the landing stand comprising two substantially vertical support portions which are connected by a substantially horizontal connecting portion; 
 a magnetometer located on one of the vertical support portion of the landing stand, wherein the magnetometer is at a distance of at least 3 cm and no more than 0.5 m away from the one or more electrical components; and 
 an indicator light source, wherein the indicator light source is positioned at a window, wherein the window is made of a transparent or semi-transparent material, and the window is on a branch housing member of the one or more branch housing members; 
 wherein the one of the vertical support portions has an attachment interface comprising one or more opening configured to accommodate wires connecting the magnetometer and other components; and 
 wherein the plurality of actuator assemblies comprises four actuator assemblies and four ESC modules. 
 
     
     
       2. The UAV of  claim 1 , wherein the landing stand is attached to the central body. 
     
     
       3. The UAV of  claim 1 , wherein the magnetometer comprises a compass. 
     
     
       4. The UAV of  claim 1 , wherein each of the upper branch housing members comprises a slot or opening for installing the corresponding actuator. 
     
     
       5. The UAV of  claim 1 , wherein each ESC module of the plurality of ESC modules is electrically connected to the flight control module and the corresponding actuator assembly, wherein the flight control module is configured to provide control signals for the ESC module, and wherein each ESC module is configured to provide actuator signals to the corresponding actuator assembly. 
     
     
       6. The UAV of  claim 1 , wherein each ESC module is located in a respective branch cavity. 
     
     
       7. The UAV of  claim 1 , wherein each ESC module of the plurality of ESC modules is operably connected to the flight control module to permit two-way communication between the flight control module and each ESC module. 
     
     
       8. The UAV of  claim 7 , wherein the flight control module is configured to provide a control signal for each ESC module, which in turn are configured to provide actuator signals to the corresponding actuators, and wherein each ESC module is configured to provide a feedback signal to the flight control module. 
     
     
       9. The UAV of  claim 1 , further comprising a carrier supporting a payload device. 
     
     
       10. The UAV of  claim 9 , wherein the landing stand is a first landing stand, and wherein the UAV further comprises a second landing stand, and wherein the first and second landing stands are configured to bear weight of the UAV when the UAV is not airborne, the payload device being a camera carried between the first and second landing stands. 
     
     
       11. The UAV of  claim 1 , wherein the integral upper body portion and the integral lower body portion are coupled to one another via one or more fasteners. 
     
     
       12. The UAV of  claim 1 , wherein the central body comprises a receiving structure comprising an opening configured to accept and store a battery of the UAV. 
     
     
       13. The UAV of  claim 1 , wherein the plurality of ESC modules are located within the central cavity. 
     
     
       14. The UAV of  claim 1 , wherein the one or more electrical components include a GPS receiver, the GPS receiver and the magnetometer being at least 3 cm apart. 
     
     
       15. The UAV of  claim 1 , wherein the UAV has a volume of less than 1 cubic meter. 
     
     
       16. The UAV of  claim 1 , wherein each ESC module is positioned in the integral lower body portion. 
     
     
       17. The UAV of  claim 1 , wherein at least a portion of each of the lower branch housing members extends beneath at least a portion of the corresponding actuator. 
     
     
       18. The UAV of  claim 1 , wherein at least a portion of each of the lower branch housing members extends at least a portion of the corresponding actuator.